An image processing device includes a predicted position calculator configured to predict a current position of a target object, an obtained image analyzer configured to search for a position of the target object from a predetermined region that is a partial region of a captured image and that includes a position predicted by the predicted position calculator, and an analysis result outputting unit configured to output the position of the target object retrieved by the obtained image analyzer.
Legal claims defining the scope of protection, as filed with the USPTO.
1. An image processing device used for position control of a target object and configured to detect a position of the target object from a captured image captured by an imaging device, the image processing device comprising a processor configured with a program to perform operations comprising: operation as a predicting unit configured to predict a current position of the target object; operation as a searching unit configured to search for the target object in the captured image, and measure the current position of the target object by searching a predetermined region comprising a partial region of the captured image, the partial region comprising the target object and the predicted current position predicted by the predicting unit; and operation as an outputting unit configured to output a result of the measured current position of the target object measured by the searching unit.
2. The image processing device according to claim 1 , wherein the processor is configured with the program such that operation as the predicting unit comprises operation as the predicting unit that predicts the current position of the target object based on instruction information from a control device configured to control the position of the target object.
3. The image processing device according to claim 1 , wherein the processor is configured with the program such that operation as the predicting unit comprises operation as the predicting unit that predicts the current position of the target object based on a change in the position of the target object in a plurality of captured images captured by the imaging device.
4. The image processing device according to claim 1 , wherein: the processor is configured with the program to perform operations further comprising: operation as a notifying unit configured to notify the imaging device of the predetermined region; and operation as an obtaining unit configured to obtain the partial region of the captured image corresponding to the predetermined region from the imaging device; and the processor is configured with the program such that operation as the searching unit comprises operation as the searching unit that searches for the target object and measures the current position of the target object from the partial region of the captured image obtained by the obtaining unit.
5. The image processing device according to claim 1 , wherein: the processor is configured with the program to perform operations further comprising: operation as an obtaining unit configured to obtain the captured image from the imaging device; and operation as a region extracting unit configured to extract the predetermined region from the captured image; and the processor is configured with the program such that operation as the searching unit comprises operation as the searching unit that searches for the target object and measures the current position of the target object from the predetermined region extracted by the region extracting unit.
6. The image processing device according to claim 1 , wherein: the imaging device comprises a plurality of imaging devices; the processor is configured with the program such that operation as the predicting unit comprises operation as the predicting unit that predicts the current position of the target object based on a first captured image captured by a first imaging device of the plurality of imaging devices; and the processor is configured with the program such that operation as the searching unit comprises operation as the searching unit that searches for the target object and measures the current position of the target object by searching a second captured image captured by a second imaging device of the plurality of imaging devices, the second captured image comprising the predetermined region.
7. A control system comprising: the image processing device according to claim 6 ; and a conveying device, wherein the target object is moved by the conveying device, and the first imaging device is installed on an upstream side of the conveying device relative to the second imaging device.
8. A control system comprising: the image processing device according to claim 1 ; a control device configured to control the position of the target object; and the imaging device configured to capture an image of a region including the target object.
9. A control method of an image processing device used for position control of a target object and configured to detect a position of the target object from a captured image captured by an imaging device, the control method comprising: predicting a current position of the target object; searching for the target object in the captured image, and measuring the current position of the target object by searching a predetermined region comprising a partial region of the captured image, the partial region comprising the target object and the predicted current position of the target object; and outputting a result of the measured current position of the target object.
10. A non-transitory computer-readable storage storing a control program for causing a computer to function as the image processing device according to claim 1 .
11. The image processing device according to claim 2 , wherein: the processor is configured with the program to perform operations further comprising: operation as a notifying unit configured to notify the imaging device of the predetermined region; and operation as an obtaining unit configured to obtain the partial region of the captured image corresponding to the predetermined region from the imaging device; and the processor is configured with the program such that operation as wherein the searching unit comprises operation as the searching unit that searches for the target object and measures the current position of the target object from the partial region of the captured image obtained by the obtaining unit.
12. The image processing device according to claim 3 , wherein: the processor is configured with the program to perform operations further comprising: operation as a notifying unit configured to notify the imaging device of the predetermined region; and operation as an obtaining unit configured to obtain the partial region of the captured image corresponding to the predetermined region from the imaging device; and the processor is configured with the program such that operation as the searching unit comprises operation as the searching unit that searches for the target object and measures the current position of the target object from the partial region of the captured image obtained by the obtaining unit.
13. The image processing device according to claim 2 , wherein: the processor is configured with the program to perform operations further comprising: operation as an obtaining unit configured to obtain the captured image from the imaging device; and operation as a region extracting unit configured to extract the predetermined region from the captured image; and the processor is configured with the program such that operation as the searching unit comprises operation as the searching unit that searches for the target object and measures the current position of the target object from the predetermined region extracted by the region extracting unit.
14. The image processing device according to claim 3 , wherein: the processor is configured with the program to perform operations further comprising: operation as an obtaining unit configured to obtain the captured image from the imaging device; and operation as a region extracting unit configured to extract the predetermined region from the captured image; and the processor is configured with the program such that operation as the searching unit comprises operation as the searching unit that searches for the target object and measures the current position of the target object from the predetermined region extracted by the region extracting unit.
15. The control method according to claim 9 , wherein predicting the current position of the target object comprises predicting the current position of the target object based on instruction information from a control device configured to control the position of the target object.
16. The control method according to claim 9 , wherein predicting the current position of the target object comprises predicting the current position of the target object based on a change in the position of the target object in a plurality of captured images.
17. The control method according to claim 9 , wherein: predicting the current position of the target object comprises predicting the position of the target object based on a first captured image; and searching for the target object in the captured image, and measuring the current position of the target object by searching the predetermined region comprising the partial region of the captured image comprises measuring the position of the target object by searching the predetermined region comprising the partial region of a second captured image.
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October 18, 2017
October 1, 2019
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